CN112748417B - Laser radar control method and device, electronic equipment and storage medium - Google Patents
Laser radar control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application discloses a radar control method and device, electronic equipment and storage medium, wherein the method comprises the following steps: obtaining the maximum luminous point number of the laser radar when the scanning device sets working parameters; determining the transmitting parameters of the laser radar according to the target working mode, the set working parameters and the maximum luminous point number of the laser radar; the lidar is controlled to emit light in a manner responsive to the emission parameter. The application provides a dynamic adjustment laser radar working mode on the premise of not changing the working parameters of the scanning device.
Description
Technical Field
The embodiment of the application relates to a laser radar technology, in particular to a laser radar control method and device, electronic equipment and a storage medium.
Background
In the automatic driving technology, an environment sensing system is a basic and crucial ring, is a guarantee of the safety and the intelligence of an automatic driving automobile, and has incomparable advantages in the aspects of reliability, detection range, ranging accuracy and the like. The laser radar analyzes the turn-back time of the laser when encountering the target object by transmitting and receiving the laser beam, and calculates the relative distance between the target object and the vehicle.
The pulse laser radar changes the laser emission angle through a mechanical rotation, a mechanical galvanometer, a micro-electromechanical system (Microelectro Mechanical Systems, MEMS) and other light beam scanning devices, and the running track of the scanning device and the laser light emitting moment jointly determine the point cloud pattern characteristics of the laser radar, such as frame rate, resolution, scanning point distribution positions and the like. Scanning devices have a number of adjustable operating parameters such as speed, scanning angle, number of cycles per second (frame rate), etc. different methods of controlling different types of scanning devices, typically voltage or current amplitude, frequency, rate of change, etc.
The laser radar can realize high-resolution rapid scanning and ranging, requires precise matching of a scanning device and a laser, has high requirements on operation control of the scanning device and laser light emitting time, and requires calibration and calibration, and precise calibration and calibration are usually complicated and time-consuming, thus being one of the main production costs of the laser radar. If the laser radar has more than one designed working state, such as different scanning speeds of different scanning devices to realize different resolutions, various working states need to be calibrated in the production process, the time is multiplied, and the cost is increased.
In addition, the laser needs to consider the pulse Duty cycle (Duty cycle) of the laser, and the index is usually between 0.01 to 2 per mill, and the use of the laser beyond the Duty cycle can seriously affect the service life of the laser. The existing laser radar is limited by the characteristics of an angle scanning device and a laser, laser scanning is usually carried out only by fixed parameters, the use scene of the laser radar is more and more complex, the use main body is more and more, different working states and scanning parameters are needed, and multiple calibration processes are needed, so that the cost is obviously increased.
Disclosure of Invention
In view of this, embodiments of the present application provide a laser radar control method and apparatus, an electronic device, and a storage medium.
According to a first aspect of an embodiment of the present application, there is provided a laser radar control method, including:
obtaining the maximum luminous point number of the laser radar when the scanning device sets working parameters;
determining the transmitting parameters of the laser radar according to the target working mode, the set working parameters and the maximum luminous point number of the laser radar;
the lidar is controlled to emit light in a manner responsive to the emission parameter.
In one embodiment, the target operating mode of the lidar includes a target frame rate of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining the transmitting parameter of the laser radar according to the target working mode of the laser radar, the set working parameter and the maximum luminous point number includes:
determining the light emitting frame rate of the laser radar according to the target frame rate of the laser radar, the set scanning frame rate and the maximum light emitting point number; the target frame rate is less than or equal to the set scan frame rate.
In one embodiment, the target operating mode of the lidar includes a target resolution of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining the transmitting parameter of the laser radar according to the target working mode of the laser radar, the set working parameter and the maximum luminous point number includes:
determining the luminous frame rate of the laser radar and the number of luminous points in a luminous frame corresponding to the luminous frame rate according to the target resolution of the laser radar, the set scanning frame rate and the maximum luminous point number; the target resolution is less than or equal to the maximum number of luminous points.
In one embodiment, the method further comprises:
and determining position information corresponding to the luminous points in the luminous frames corresponding to the luminous frame rate.
In one embodiment, the target operating mode of the lidar includes a region of interest scan; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining the transmitting parameter of the laser radar according to the target working mode of the laser radar, the set working parameter and the maximum luminous point number includes:
and determining the luminous frame rate of the laser radar, the number of luminous points in a luminous frame corresponding to the luminous frame rate and the position information according to the region of interest of the laser radar, the set scanning frame rate and the maximum luminous point number.
In one embodiment, the method further comprises:
and controlling the laser radar to continuously emit light at a single light emitting point for two or more times according to a preset time interval.
In one embodiment, the target operating mode of the lidar is determined by:
receiving an input instruction, and acquiring a target working mode of the laser radar based on the input instruction; or (b)
Generating a target working mode of the laser radar based on the measurement configuration parameters; or (b)
And generating a target working mode of the laser radar according to the current measurement result or the measurement requirement.
According to a second aspect of embodiments of the present application, there is provided a lidar control device, including:
the acquisition unit is used for acquiring the maximum luminous point number of the laser radar when the scanning device sets working parameters;
the determining unit is used for determining the transmitting parameters of the laser radar according to the target working mode of the laser radar, the set working parameters and the maximum luminous point number;
and the control unit is used for controlling the laser radar to emit light in a mode of responding to the emission parameters.
In one embodiment, the target operating mode of the lidar includes a target frame rate of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit is further configured to:
determining the light emitting frame rate of the laser radar according to the target frame rate of the laser radar, the set scanning frame rate and the maximum light emitting point number; the target frame rate is less than or equal to the set scan frame rate.
In one embodiment, the target operating mode of the lidar includes a target resolution of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit is further configured to:
determining the luminous frame rate of the laser radar and the number of luminous points in a luminous frame corresponding to the luminous frame rate according to the target resolution of the laser radar, the set scanning frame rate and the maximum luminous point number; the target resolution is less than or equal to the maximum number of luminous points.
In an embodiment, the determining unit is further configured to:
and determining position information corresponding to the luminous points in the luminous frames corresponding to the luminous frame rate.
In one embodiment, the target operating mode of the lidar includes a region of interest scan; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit is further configured to:
and determining the luminous frame rate of the laser radar, the number of luminous points in a luminous frame corresponding to the luminous frame rate and the position information according to the region of interest of the laser radar, the set scanning frame rate and the maximum luminous point number.
In an embodiment, the control unit is further configured to:
and controlling the laser radar to continuously emit light at a single light emitting point for two or more times according to a preset time interval.
In one embodiment, the apparatus further comprises:
a processing unit, configured to determine a target operation mode of the lidar by:
receiving an input instruction, and acquiring a target working mode of the laser radar based on the input instruction; or (b)
Generating a target working mode of the laser radar based on the measurement configuration parameters; or (b)
And generating a target working mode of the laser radar according to the current measurement result or the measurement requirement.
According to a third aspect of embodiments of the present application, there is provided an electronic device including: a processor and a memory for storing processor executable instructions, wherein the processor is configured to perform the steps of the lidar control method when the executable instructions in the memory are invoked.
According to a fourth aspect of embodiments of the present application, there is provided a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the steps of the lidar control method.
In the embodiment of the application, a dynamic adjustment working mode is provided for the laser radar, and the emission parameters can be adjusted under the condition that the light emitting time and the position are calibrated on the premise that the working parameters of the light beam scanning device are not adjusted, so that the adjustment of the working mode of the laser radar is realized. Furthermore, only the light emitting time and position of the laser radar are adjusted, so that the variable frame rate, the variable resolution and the set area scanning of the laser radar are realized, and further, the anti-crosstalk function of the laser radar is improved by adjusting the light emitting method of the laser radar, for example, by heavy frequency light emission.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description of the drawings used in the description of the embodiments or the prior art will be provided below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the invention and that other drawings may be derived from them without undue effort.
Fig. 1 is a schematic flow chart of a lidar control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a maximum luminous point supported by the lidar according to an embodiment of the present application;
FIG. 3 is a schematic diagram of luminescence of a luminescence point supported by the lidar according to the embodiment of the present application;
FIG. 4 is a schematic diagram of the heavy frequency emission supported by the lidar according to the embodiment of the present application;
FIG. 5 is a schematic diagram of the heavy frequency emission supported by the lidar according to the embodiment of the present application;
FIG. 6 is a schematic view of the luminescence of a set region supported by the lidar according to the embodiment of the present application;
fig. 7 is a schematic diagram of the composition structure of a lidar control device according to an embodiment of the present application.
Detailed Description
The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a radar control method according to an embodiment of the present application, as shown in fig. 1, the radar control method according to an embodiment of the present application includes the following steps:
In the embodiment of the application, the maximum luminous point number of the laser radar is firstly determined when the scanning device in the laser radar sets working parameters. The scanning device can reflect the laser signal of the laser radar so as to improve the coverage range of the laser signal.
In the embodiment of the application, the maximum luminous point number of the laser radar is the maximum luminous point number which can be realized by the laser radar in unit time, and the parameter requirements of the laser radar, such as the luminous pulse width, the maximum duty ratio and the like, of the maximum luminous point number are required to be met. When the calibration scanning device sets working parameters, the corresponding relation between the luminous moment of the luminous point and the angle parameters is calibrated.
In the embodiment of the application, the target frame rate refers to the frame rate of the whole laser radar, and the scanning frame rate refers to the frame rate of a part scanning device in the laser radar. The scanning device keeps working under the set working parameters, only adjusts the transmitting parameters of the laser radar, and realizes the target working mode of the laser radar. Therefore, the corresponding relation between the luminous point and the angle parameter does not need to be recalibrated.
In the embodiment of the present application, the target working mode of the laser radar includes a target frame rate of the laser radar; the setting working parameters of the scanning device comprise setting scanning frame rate; correspondingly, the determining the transmitting parameter of the laser radar according to the target working mode, the set working parameter and the maximum luminous point number of the laser radar includes:
determining the light emitting frame rate of the laser radar according to the target frame rate of the laser radar, the set scanning frame rate and the maximum light emitting point number; the target frame rate is less than or equal to the set scan frame rate.
The target frame rate of the laser radar is smaller than or equal to the set scanning frame rate, specifically, the light emitting frame of the laser radar corresponds to the scanning frame of the scanning device. Optionally, the emitting device of the laser radar emits no light or emits light at all points in the scanning frame, and the light emitting frame is formed by arbitrarily selecting the time period corresponding to the scanning frame, so that the target frame rate which is arbitrarily smaller than the set scanning frame rate can be realized.
As an alternative implementation of the embodiment of the present invention, the number of light emission frames of the laser radar is less than or equal to the number of frames of the scanning device in the set period, for example, a unit period, for example, 1 second; the light-emitting frame of the laser radar corresponds to the scanning frame of the scanning device, and the light-emitting frame of the laser radar is smaller than the scanning frame of the scanning device; or (b)
Determining a light-emitting frame in the laser radar as a scanning odd frame corresponding to the scanning device; or (b)
Determining a light emitting frame in the laser radar as a scanning even frame corresponding to the scanning device; or (b)
Determining a light emitting frame in the laser radar as one frame or two frames of every three frames in a scanning frame corresponding to the scanning device; here, one frame of the three frames may be any one frame of the three frames, and two frames of the three frames may be any two frames of the three frames, for example, two frames may be two adjacent frames or two frames with a space; or (b)
Determining a light emitting frame in the laser radar as one frame, two frames or three frames of every four frames in a scanning frame corresponding to the scanning device; one, two or three of the four frames herein may be any one, any two or any three of the four frames.
Alternatively, as an implementation manner, the target working mode of the laser radar includes a target resolution of the laser radar; the setting working parameters of the scanning device comprise setting scanning frame rate; correspondingly, the determining the transmitting parameter of the laser radar according to the target working mode, the set working parameter and the maximum luminous point number of the laser radar includes:
determining the luminous frame rate of the laser radar and the number of luminous points in a luminous frame corresponding to the luminous frame rate according to the target resolution of the laser radar, the set scanning frame rate and the maximum luminous point number; the target resolution is less than or equal to the maximum number of luminous points. In this embodiment of the present application, it is further required to determine position information corresponding to a light emitting point in a light emitting frame corresponding to the light emitting frame rate.
As an implementation manner, specifically, determining a to-be-lighted area of a lighting frame, and determining the number of lighting points according to specific lighting points in the to-be-lighted area; for example, a region of interest may be defined, and the region of interest is taken as a region to be lit; or (b)
Determining a row or a column where the number of luminous points to be lightened of a luminous frame is positioned, and determining the number of the luminous points of the row or the column to be lightened as the number of the luminous points; the luminous points of certain rows or columns can be used as luminous points to be lightened, and the rows or columns of the luminous points are set according to the requirement of laser ranging; or (b)
Determining the positions of the luminous points to be lightened of a luminous frame in a row or a column, and determining the number of the luminous points to be lightened as the number of luminous points; the luminous points to be lit may also be some specific luminous points located in a row, the number and corresponding positions of which may be set by specific needs.
The target working mode of the laser radar comprises the scanning of a region of interest; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining the transmitting parameter of the laser radar according to the target working mode of the laser radar, the set working parameter and the maximum luminous point number includes:
and determining the luminous frame rate of the laser radar, the number of luminous points in a luminous frame corresponding to the luminous frame rate and the position information according to the region of interest of the laser radar, the set scanning frame rate and the maximum luminous point number. Here, the region of interest is determined by the lidar from the actual measurement results, or by the user inputting a corresponding region indication, the lidar is determined from the indication region. And the laser radar determines the number of luminous points and the position information in the corresponding luminous frame according to the luminous frame rate determined by the laser radar.
In the embodiment of the application, the laser radar is controlled to emit light according to the previously determined light emitting frame rate, the number of light emitting points in the light emitting frame, the light emitting position information and the like.
In the embodiment of the application, the laser radar can perform repeated frequency light emission, namely, the laser radar is controlled to emit light continuously at a single light emitting point for two or more times according to a preset time interval in response to the light emitting frame rate. The number of single light-emitting points which continuously emit light for two or more times in the light-emitting frame is more than two, and the continuous light-emitting intervals of the more than two single light-emitting points can be different; that is, the repetition frequency intervals of different light emitting points in the light emitting frame may be different, that is, the repetition frequency intervals may be set for each light emitting point, respectively, to prevent crosstalk caused between laser signals. In this embodiment of the present application, the continuous light emission interval is a nanosecond interval.
In the embodiment of the application, the target working mode of the laser radar may be determined by the following manner:
receiving an input instruction, and acquiring a target working mode of the laser radar based on the input instruction; or (b)
Generating a target working mode of the laser radar based on the measurement configuration parameters; or (b)
And generating a target working mode of the laser radar according to the current measurement result or the measurement requirement.
The following further clarifies the essence of the technical solution of the embodiments of the present application by means of specific examples.
The working mode of the pulse laser radar provided by the embodiment of the application can dynamically adjust the transmitting mode of the laser radar under the conditions that the working parameters of the scanning device are not changed and the index requirements such as the duty ratio of the laser radar are not exceeded, so as to adapt to the requirements of different working modes.
First, the frame rate F of the lidar and the number of light emission points Nmax are determined. F is a certain frame rate adapting to the characteristics of the laser radar and the scanning device thereof, and the maximum achievable frame rate is usually taken; nmax is the maximum number of luminous points which can be realized in the unit time of the laser radar, and the requirements of parameters such as luminous pulse width, maximum duty ratio and the like of the laser radar are required to be met. In the embodiment of the application, nmax is the maximum number of luminous points of the laser radar.
When calibration and calibration are carried out, firstly, calibrating a control parameter of the scanning device at a frame rate F, and recording the parameter; the maximum number Nmax of luminous points of the laser radar is distributed in the scanning plane, and the distribution mode can be determined by self according to requirements, and is generally uniformly distributed, as shown in fig. 2. And at the moment, the corresponding relation between the luminous moment of the laser radar and the angle parameter is calibrated.
In this embodiment of the present application, when the lidar works, the scanning device always works at the frame rate F, and what needs to be dynamically adjusted is a lighting strategy of the lidar, for example, the number and the position of the lighting points and the lighting mode such as single-frequency or heavy-frequency lighting may be adjusted, and the position of the lighting points may be selected from the calibrated Nmax positions. In this way, the laser radar can realize different scanning working modes in a relatively easy way, such as variable frame rate, variable resolution, scanning of the region of interest, adjusting ranging accuracy, adjusting anti-crosstalk function and the like, without adjusting working parameters of a scanning device or adjusting the moment position of the Nmax point, and only performing calibration once.
When the laser radar scanning working mode is designed, defining the number of frames of laser radar luminescence within each second as f, and the number of luminescence points of the laser radar in each frame as n.
In a common case, all luminous points in one frame do not emit light or emit light, and the number F of frames for luminous operation can be arbitrarily selected to meet F being less than or equal to F. When the device works finally, n is less than or equal to Nmax/f, and n luminous points are determined according to Nmax, luminous frame rate, scanning angle of the scanning device and the like. In the non-light emission frame, the laser radar, the photoelectric receiving circuit, and the like may be turned off. The non-light emitting frames may be optional, and may typically be f=1, f=2, f=f/3, f=f/4, f=f/2, f=f, etc. In the different light-emitting frames, n light-emitting points selected between the light-emitting frames may be the same or different.
Assuming that the frame rate F of the scanning device of the laser radar is 20Hz, the maximum number Nmax of light emission points of the laser radar is 10000 points. By controlling the lighting parameters of the lidar, the frame rate of the lidar can be set to any frame rate less than 20 without changing the control parameters of the scanning device. For example, the laser radar is controlled to emit light in odd frames of the scanning device, and not emit light in even frames, i.e. the frame rate of f=10hz can be realized, and n is less than or equal to 1000. Or controlling the laser radar to emit light in even frames and not emit light in odd frames of the scanning device.
In the embodiment of the application, by adjusting the laser light emitting mode, the modes of non-uniform light emitting, heavy frequency light emitting, space-adjustable heavy frequency light emitting, non-light emitting, starting a photoelectric receiving circuit and the like can be realized. The principle of the adjustment mode is as follows: by reducing the number of light emitting frames f or reducing the number of local light emitting points in one frame, more laser radar light emitting resources are left and redistributed to other set light emitting moments. Fig. 3 is a schematic view of luminescence points supported by the lidar according to the embodiment of the present application, as shown in fig. 3, in a laser of the lidar, luminescence points in a luminescence frame are arranged in a luminescence line every 2 rows, a solid circle in the figure indicates luminescence points, a dotted circle indicates luminescence points that are not lit, and a lighting manner may be set according to actual test requirements.
The embodiment of the application supports changing the frame rate of the luminous frame and supports dynamic adjustment of the resolution in the laser signal point cloud picture. For example, by decreasing the frame rate f, increasing the value of N/f, increasing the number of light emitting points per frame of light emission, and reassigning these light emitting points, the resolution of the point cloud is increased; the resolution can be reduced in the opposite direction, or the resolution can be reduced by directly selecting non-light emission. The method can dynamically adjust the resolution without changing the operating parameters of the scanning device. The dynamic frame rate and resolution adjustment is very practical when adapting to the detection of target objects with different distances.
Fig. 4 is a schematic diagram of heavy-frequency luminescence supported by the lidar according to the embodiment of the present application, as shown in fig. 4, where the lidar according to the embodiment of the present application further supports heavy-frequency luminescence to increase ranging accuracy or ranging distance. The repeated-frequency luminescence is a repeated measurement technology, namely, each luminescence point rapidly and continuously emits laser twice or more at the moment when each luminescence frame arrives, and simultaneously receives echo signals twice or more, and the distance measurement precision or distance measurement distance is improved by means of repeated measurement algorithm processing. The time interval between two or more continuous light emission is usually about tens of nanoseconds (ns) to hundreds of ns, which is very short relative to the scanning time of the scanning device, and does not affect the emission and the reception of laser signals. In the embodiments of the present application, since the laser light is emitted two or more times in succession and then is spatially separated closely, it can be considered that the laser light irradiates the same location of the object. The repeated frequency light emission needs more light emitting points, the scanning device scans according to the parameters of the F frame, the light emitting frame rate F is reduced, or the number n of light emitting points of each frame is reduced, so that laser light emitting resources can be left without changing the working parameters of the scanning angle scanning device, and the process can be dynamically adjusted. That is, by continuous light emission at the light emission points, measurement accuracy can be improved as long as the total number of light emission times in the light emission frame is lower than the maximum number of light emission Nmax of the maximum lidar.
In the embodiment of the application, when the heavy-frequency light emission is realized, the working parameters of the scanning device do not need to be changed. The application also supports the repetition frequency luminescence with adjustable interval, and realizes the laser interference resistance. The interval-adjustable repeated-frequency luminescence refers to repeated-frequency luminescence at each luminescence position, but the internal time interval of two luminescence is adjustable, and the interval of echo and the interval time of luminescence are judged when receiving, so that whether the received laser is emitted by the laser radar can be distinguished, and the interference of other laser radars is resisted. The repetition frequency luminescence with adjustable interval can be realized without changing the working parameters of the scanning device by reducing the luminescence frame rate f or reducing the luminescence point number n of each frame. Fig. 5 is a schematic diagram of repetition frequency light emission supported by the lidar according to the embodiment of the present application, as shown in fig. 5, a repetition frequency interval of the repetition frequency signal continuously emitted by each light emitting point may be adjusted arbitrarily, that is, the repetition frequency interval of the repetition frequency signal continuously emitted by each light emitting point may be different.
The embodiment of the application supports non-uniform light emission and heavy frequency light emission, and can also realize the scanning of the region of interest; assuming that the luminous frame rate is f and the total luminous point number in each frame is N/f, an area of interest can be defined, the number of luminous points is increased in the area of interest, the resolution of the area is improved, or the repeated frequency luminescence is realized at each luminous point, and the ranging accuracy of the area is improved. The scanning of the region of interest can be achieved without changing the operating parameters of the scanning device by reducing the light emission frame rate f or by reducing the number of light emission points n per frame. The scanning points are only required to be reduced at the positions outside the area, so that the total luminous point number of each frame is still less than or equal to N/f. Fig. 6 is a schematic light-emitting diagram of a set area supported by the lidar according to the embodiment of the present application, as shown in fig. 6, a solid circle in the drawing indicates a light-emitting point of light emission, a dotted circle indicates a non-light-emitting point, and a light-emitting area is disposed in the middle, and a corresponding region of interest may be further disposed according to actual test requirements.
In the embodiment of the application, under the condition that the laser radar does not emit light, the photoelectric receiving circuit can be started, so that the environment perception is enhanced, and the receiving effect is improved; the laser radar does not emit laser, namely f=0, can work in the mode transiently, senses information such as ambient light, laser interference and the like, is convenient for a system to set appropriate working parameters such as photoelectric receiving, algorithm and the like, and improves receiving effect.
The embodiment of the application provides a dynamic adjustment scanning mode for the pulse laser radar, and can adjust the transmitting parameters under the condition of only carrying out light-emitting moment and position calibration on the premise of not adjusting the working parameters of the scanning device, thereby realizing the adjustment of the working mode of the laser radar. Furthermore, only the light emitting time and position of the laser radar are adjusted, so that the variable frame rate, the variable resolution and the set area scanning of the laser radar are realized, and further, the anti-crosstalk function of the laser radar is improved by adjusting the light emitting method of the laser radar, for example, by heavy frequency light emission.
Fig. 7 is a schematic diagram of a composition structure of a lidar control device according to an embodiment of the present application, and as shown in fig. 7, the lidar control device according to the embodiment of the present application includes:
an acquisition unit 70 for acquiring the maximum number of luminous points of the laser radar when the scanning device sets the working parameters;
a determining unit 71, configured to determine a transmitting parameter of the lidar according to a target working mode of the lidar, the set working parameter, and the maximum number of light-emitting points;
a control unit 72 for controlling the lidar to emit light in response to the emission parameters.
As one implementation, the target operating mode of the lidar includes a target frame rate of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit 71 is further configured to:
determining the light emitting frame rate of the laser radar according to the target frame rate of the laser radar, the set scanning frame rate and the maximum light emitting point number; the target frame rate is less than or equal to the set scan frame rate.
As one implementation, the target operating mode of the lidar includes a target resolution of the lidar; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit 71 is further configured to:
determining the luminous frame rate of the laser radar and the number of luminous points in a luminous frame corresponding to the luminous frame rate according to the target resolution of the laser radar, the set scanning frame rate and the maximum luminous point number; the target resolution is less than or equal to the maximum number of luminous points.
As an implementation, the determining unit 71 is further configured to:
and determining position information corresponding to the luminous points in the luminous frames corresponding to the luminous frame rate.
As one implementation, the target operating mode of the lidar includes a region of interest scan; the setting working parameters of the scanning device comprise setting scanning frame rate;
the determining unit is further configured to:
and determining the luminous frame rate of the laser radar, the number of luminous points in a luminous frame corresponding to the luminous frame rate and the position information according to the region of interest of the laser radar, the set scanning frame rate and the maximum luminous point number.
As an implementation manner, the control unit is further configured to:
and controlling the laser radar to continuously emit light at a single light emitting point for two or more times according to a preset time interval.
As an implementation, the apparatus further includes:
a processing unit, configured to determine a target operation mode of the lidar by:
receiving an input instruction, and acquiring a target working mode of the laser radar based on the input instruction; or (b)
Generating a target working mode of the laser radar based on the measurement configuration parameters; or (b)
And generating a target working mode of the laser radar according to the current measurement result or the measurement requirement.
In an exemplary embodiment, the acquisition unit 70, the determination unit 71, the control unit 72, etc. may be implemented by one or more central processing units (CPU, central Processing Unit), graphics processors (GPU, graphics Processing Unit), application specific integrated circuits (ASIC, application Specific Integrated Circuit), DSPs, programmable logic devices (PLD, programmable Logic Device), complex programmable logic devices (CPLD, complex Programmable Logic Device), field programmable gate arrays (FPGA, field-Programmable Gate Array), general purpose processors, controllers, microcontrollers (MCU, micro Controller Unit), microprocessors (Microprocessor), or other electronic components.
In the embodiment of the present application, the specific manner in which the respective units in the radar control device shown in fig. 7 perform operations has been described in detail in the embodiment concerning the method, and will not be described in detail here.
The embodiment of the application also discloses electronic equipment, which comprises: a processor and a memory for storing processor executable instructions, wherein the processor is configured to perform the steps of the lidar control method of the embodiment when the executable instructions in the memory are invoked.
The present application also describes a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the steps of the lidar control method of the embodiment.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present invention, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not present.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present invention, and the changes and substitutions are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of lidar control, the method comprising:
obtaining the maximum luminous points which can be realized by the laser radar in unit time when the scanning device works at a set scanning frame rate and the corresponding relation between the luminous points and the angle parameters;
determining a transmitting parameter of the laser radar according to a target working mode of the laser radar, the set scanning frame rate and the maximum luminous point number, wherein in the target working mode, the luminous point position is selected from the positions of the luminous points with the maximum luminous point number; and
and controlling the laser radar to emit light in a mode of responding to the emission parameters, so that a target working mode of the laser radar is realized without recalibrating the corresponding relation between the luminous point and the angle parameters.
2. The method of claim 1, wherein the target mode of operation of the lidar comprises a target frame rate of the lidar;
the determining the transmitting parameters of the laser radar according to the target working mode of the laser radar, the set scanning frame rate and the maximum luminous point number comprises the following steps:
determining the light emitting frame rate of the laser radar according to the target frame rate of the laser radar, the set scanning frame rate and the maximum light emitting point number; the target frame rate is less than or equal to the set scan frame rate.
3. The method of claim 1, wherein the target operating mode of the lidar comprises a target resolution of the lidar;
the determining the transmitting parameters of the laser radar according to the target working mode of the laser radar, the set scanning frame rate and the maximum luminous point number comprises the following steps:
determining the luminous frame rate of the laser radar and the number of luminous points in a luminous frame corresponding to the luminous frame rate according to the target resolution of the laser radar, the set scanning frame rate and the maximum luminous point number; the target resolution is less than or equal to the maximum number of luminous points.
4. A method according to claim 3, characterized in that the method further comprises:
and determining position information corresponding to the luminous points in the luminous frames corresponding to the luminous frame rate.
5. The method of claim 1, wherein the target operating mode of the lidar comprises a region of interest scan;
the determining the transmitting parameters of the laser radar according to the target working mode of the laser radar, the set scanning frame rate and the maximum luminous point number comprises the following steps:
and determining the luminous frame rate of the laser radar, the number of luminous points in a luminous frame corresponding to the luminous frame rate and the position information according to the region of interest of the laser radar, the set scanning frame rate and the maximum luminous point number.
6. The method according to any one of claims 3 to 5, further comprising:
and controlling the laser radar to continuously emit light at a single light emitting point for two or more times according to a preset time interval.
7. The method of claim 5, wherein the target operating mode of the lidar is determined by:
receiving an input instruction, and acquiring a target working mode of the laser radar based on the input instruction; or (b)
Generating a target working mode of the laser radar based on the measurement configuration parameters; or (b)
And generating a target working mode of the laser radar according to the current measurement result or the measurement requirement.
8. A lidar control device, the device comprising:
the acquisition unit is used for acquiring the maximum luminous points which can be realized by the laser radar in unit time when the scanning device works at a set scanning frame rate and the corresponding relation between the luminous points and the angle parameters;
the determining unit is used for determining the emission parameters of the laser radar according to the target working mode of the laser radar, the set scanning frame rate and the maximum luminous point number, wherein in the target working mode, the position of the luminous point is selected from the positions of the luminous points with the maximum luminous point number;
and the control unit is used for controlling the laser radar to emit light in a mode of responding to the emission parameters, so that the target working mode of the laser radar is realized without recalibrating the corresponding relation between the luminous point and the angle parameters.
9. An electronic device, the electronic device comprising: a processor and a memory for storing processor executable instructions, wherein the processor is configured to be able to perform the steps of the lidar control method of any of claims 1 to 7 when the executable instructions in the memory are invoked.
10. A non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the steps of the lidar control method of any of claims 1 to 7.
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| CN113900072A (en) * | 2021-12-06 | 2022-01-07 | 探维科技(北京)有限公司 | Method, device and system for adjusting bias voltage by using non-probe light and laser radar |
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